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refactor(detected_object_validation): rework parameters
Signed-off-by: batuhanbeytekin [email protected]
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2 changes: 2 additions & 0 deletions
2
perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml
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|---|---|---|
| @@ -1,3 +1,5 @@ | ||
| /**: | ||
| ros__parameters: | ||
| mean_threshold: 0.6 | ||
| enable_debug: false | ||
|
|
23 changes: 11 additions & 12 deletions
23
perception/detected_object_validation/launch/object_lanelet_filter.launch.xml
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|---|---|---|
| @@ -1,14 +1,13 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="vector_map_topic" default="/map/vector_map"/> | ||
| <arg name="input/object" default="in_objects"/> | ||
| <arg name="output/object" default="out_objects"/> | ||
| <arg name="filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/> | ||
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| <node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen"> | ||
| <remap from="input/vector_map" to="$(var vector_map_topic)"/> | ||
| <remap from="input/object" to="$(var input/object)"/> | ||
| <remap from="output/object" to="$(var output/object)"/> | ||
| <param from="$(var filtering_range_param)"/> | ||
| </node> | ||
| <arg name="object_lanelet_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml" /> | ||
| <arg name="vector_map_topic" default="/map/vector_map" /> | ||
| <arg name="input/object" default="in_objects" /> | ||
| <arg name="output/object" default="out_objects" /> | ||
| <node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen"> | ||
| <remap from="input/vector_map" to="$(var vector_map_topic)" /> | ||
| <remap from="input/object" to="$(var input/object)" /> | ||
| <remap from="output/object" to="$(var output/object)" /> | ||
| <param from="$(var object_lanelet_filter_param_file)" /> | ||
| </node> | ||
| </launch> |
19 changes: 9 additions & 10 deletions
19
perception/detected_object_validation/launch/object_position_filter.launch.xml
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|---|---|---|
| @@ -1,12 +1,11 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="input/object" default="in_objects"/> | ||
| <arg name="output/object" default="out_objects"/> | ||
| <arg name="filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/> | ||
|
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| <node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen"> | ||
| <remap from="input/object" to="$(var input/object)"/> | ||
| <remap from="output/object" to="$(var output/object)"/> | ||
| <param from="$(var filtering_range_param)"/> | ||
| </node> | ||
| <arg name="object_position_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml" /> | ||
| <arg name="input/object" default="in_objects" /> | ||
| <arg name="output/object" default="out_objects" /> | ||
| <node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen"> | ||
| <remap from="input/object" to="$(var input/object)" /> | ||
| <remap from="output/object" to="$(var output/object)" /> | ||
| <param from="$(var object_position_filter_param_file)" /> | ||
| </node> | ||
| </launch> |
21 changes: 10 additions & 11 deletions
21
perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,14 +1,13 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/> | ||
| <arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects"/> | ||
| <arg name="obstacle_pointcloud_based_validator_param_path" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml"/> | ||
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| <node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/> | ||
| <remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)"/> | ||
| <remap from="~/output/objects" to="$(var output/objects)"/> | ||
| <param from="$(var obstacle_pointcloud_based_validator_param_path)"/> | ||
| </node> | ||
| <arg name="obstacle_pointcloud_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml" /> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" /> | ||
| <arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud" /> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects" /> | ||
| <node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)" /> | ||
| <remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)" /> | ||
| <remap from="~/output/objects" to="$(var output/objects)" /> | ||
| <param from="$(var obstacle_pointcloud_based_validator_param_file)" /> | ||
| </node> | ||
| </launch> |
47 changes: 22 additions & 25 deletions
47
perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
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|---|---|---|
| @@ -1,28 +1,25 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects"/> | ||
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| <arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan"/> | ||
| <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map"/> | ||
| <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/> | ||
| <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml"/> | ||
| <arg name="occupancy_grid_based_validator_param_path" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml"/> | ||
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| <node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen"> | ||
| <remap from="~/input/laserscan" to="$(var input/laserscan)"/> | ||
| <remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/> | ||
| <param name="input_obstacle_pointcloud" value="false"/> | ||
| <param name="input_obstacle_and_raw_pointcloud" value="false"/> | ||
| <param name="updater_type" value="binary_bayes_filter"/> | ||
| <param from="$(var occupancy_grid_map_param_path)"/> | ||
| <param from="$(var occupancy_grid_map_updater_param_path)"/> | ||
| </node> | ||
|
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| <node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/> | ||
| <remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/> | ||
| <remap from="~/output/objects" to="$(var output/objects)"/> | ||
| <param from="$(var occupancy_grid_based_validator_param_path)"/> | ||
| </node> | ||
| <arg name="occupancy_grid_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator.param.yaml" /> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" /> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects" /> | ||
| <arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan" /> | ||
| <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map" /> | ||
| <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml" /> | ||
| <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml" /> | ||
| <node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen"> | ||
| <remap from="~/input/laserscan" to="$(var input/laserscan)" /> | ||
| <remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)" /> | ||
| <param name="input_obstacle_pointcloud" value="false" /> | ||
| <param name="input_obstacle_and_raw_pointcloud" value="false" /> | ||
| <param name="updater_type" value="binary_bayes_filter" /> | ||
| <param from="$(var occupancy_grid_map_param_path)" /> | ||
| <param from="$(var occupancy_grid_map_updater_param_path)" /> | ||
| </node> | ||
| <node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)" /> | ||
| <remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)" /> | ||
| <remap from="~/output/objects" to="$(var output/objects)" /> | ||
| <param from="$(var occupancy_grid_based_validator_param_file)" /> | ||
| </node> | ||
| </launch> |
121 changes: 121 additions & 0 deletions
121
perception/detected_object_validation/schema/object_lanelet_filter.schema.json
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|---|---|---|
| @@ -0,0 +1,121 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Object Lanelet Filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "object_lanelet_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "filter_target_label": { | ||
| "type": "object", | ||
| "properties": { | ||
| "UNKNOWN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, unknown objects are filtered." | ||
| }, | ||
| "CAR": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, car objects are filtered." | ||
| }, | ||
| "TRUCK": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, truck objects are filtered." | ||
| }, | ||
| "BUS": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bus objects are filtered." | ||
| }, | ||
| "TRAILER": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, trailer objects are filtered." | ||
| }, | ||
| "MOTORCYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, motorcycle objects are filtered." | ||
| }, | ||
| "BICYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bicycle objects are filtered." | ||
| }, | ||
| "PEDESTRIAN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, pedestrian objects are filtered." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "UNKNOWN", | ||
| "CAR", | ||
| "TRUCK", | ||
| "BUS", | ||
| "TRAILER", | ||
| "MOTORCYCLE", | ||
| "BICYCLE", | ||
| "PEDESTRIAN" | ||
| ] | ||
| }, | ||
| "filter_settings": { | ||
| "type": "object", | ||
| "properties": { | ||
| "polygon_overlap_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enabled": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "If true, objects that are not in the lanelet polygon are filtered." | ||
| } | ||
| }, | ||
| "required": ["enabled"] | ||
| }, | ||
| "lanelet_direction_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enabled": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, objects that are not in the same direction as the lanelet are filtered." | ||
| }, | ||
| "velocity_yaw_threshold": { | ||
| "type": "number", | ||
| "default": 0.785398, | ||
| "description": "If the yaw difference between the object and the lanelet is greater than this value, the object is filtered." | ||
| }, | ||
| "object_speed_threshold": { | ||
| "type": "number", | ||
| "default": 3.0, | ||
| "description": "If the object speed is greater than this value, the object is filtered." | ||
| } | ||
| }, | ||
| "required": ["enabled", "velocity_yaw_threshold", "object_speed_threshold"] | ||
| } | ||
| }, | ||
| "required": ["polygon_overlap_filter", "lanelet_direction_filter"] | ||
| } | ||
| }, | ||
| "required": ["filter_target_label", "filter_settings"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/object_lanelet_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
109 changes: 109 additions & 0 deletions
109
perception/detected_object_validation/schema/object_position_filter.schema.json
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| @@ -0,0 +1,109 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Object Position Filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "object_position_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "upper_bound_x": { | ||
| "type": "number", | ||
| "default": 100.0, | ||
| "description": "Bound for filtering. Only used if filter_by_xy_position is true" | ||
| }, | ||
| "upper_bound_y": { | ||
| "type": "number", | ||
| "default": 50.0, | ||
| "description": "Bound for filtering. Only used if filter_by_xy_position is true" | ||
| }, | ||
| "lower_bound_x": { | ||
| "type": "number", | ||
| "default": 0.0, | ||
| "description": "Bound for filtering. Only used if filter_by_xy_position is true" | ||
| }, | ||
| "lower_bound_y": { | ||
| "type": "number", | ||
| "default": -50.0, | ||
| "description": "Bound for filtering. Only used if filter_by_xy_position is true" | ||
| }, | ||
| "filter_target_label": { | ||
| "type": "object", | ||
| "properties": { | ||
| "UNKNOWN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, unknown objects are filtered." | ||
| }, | ||
| "CAR": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, car objects are filtered." | ||
| }, | ||
| "TRUCK": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, truck objects are filtered." | ||
| }, | ||
| "BUS": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bus objects are filtered." | ||
| }, | ||
| "TRAILER": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, trailer objects are filtered." | ||
| }, | ||
| "MOTORCYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, motorcycle objects are filtered." | ||
| }, | ||
| "BICYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bicycle objects are filtered." | ||
| }, | ||
| "PEDESTRIAN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, pedestrian objects are filtered." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "UNKNOWN", | ||
| "CAR", | ||
| "TRUCK", | ||
| "BUS", | ||
| "TRAILER", | ||
| "MOTORCYCLE", | ||
| "BICYCLE", | ||
| "PEDESTRIAN" | ||
| ] | ||
| } | ||
| }, | ||
| "required": [ | ||
| "upper_bound_x", | ||
| "upper_bound_y", | ||
| "lower_bound_x", | ||
| "lower_bound_y", | ||
| "filter_target_label" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/object_position_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
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